Multi-camera driver assistance system

ABSTRACT

Disclosed herein is a multi-camera driver assistance system. The system includes a plurality of cameras which dispose at different positions of a vehicle to capture images of a vicinity of the vehicle; an image processing unit which generates a virtual view with respect to a predetermined projection surface based on the images; and a display device which displays the virtual view, wherein the predetermined projection surface includes a slanted projection surfaces which are located at lateral sides of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.15/134,293 filed on Apr. 20, 2016, which claims the priority to KoreanPatent Application No. 10-2015-0056085, filed on Apr. 21, 2015 in theKorean Intellectual Property Office, the disclosure of which isincorporated herein by reference in its entirety.

BACKGROUND 1. Field

Embodiments of the present disclosure relate to a system for assisting adriver using multiple cameras, and more particularly, to a multi-cameradriver assistance system capable of displaying objects such aspassengers at high positions without distortion (distortion free) anddisplaying straight lines of vehicles passing around a vehicle asaccurate straight lines rather than arcs by providing a virtual view ofa vicinity of the vehicle when driving or parking the vehicle.

2. Description of the Related Art

A multi-camera driver assistance system is a system which provides avirtual view around a vehicle by combining images captured by aplurality of cameras which are attached at different positions of thevehicle. Such a multi-camera driver assistance system is also referredto as a surround view system. The multi-camera driver assistance systemmay provide convenience of a user's operation when a driver is parkingor the like.

Specifically, large vehicles such as buses may cause complex situations.For example, complex situations may occur due to passengers who get onand off the buses and vehicles passing around the buses.

A conventional multi-camera driver assistance system uses a flatprojection surface to generate a virtual view. The flat projectionsurface is provided in, for example, European Patent Application No. DE60003750 T2. In the virtual view using the flat projection surface,although straightened lines of parking lines, vehicles passing around avehicle, or the like are represented as straight lines similar to actuallines, there is a disadvantage in that heights of objects such asstructures, trees, and the like in an external environment of thevehicle are not represented.

Further, the conventional multi-camera driver assistance system uses abowl projection surface to generate a virtual view. The bowl projectionsurface is provided in, for example, European Patent Publication No. EP2511137 A1. In the virtual view using the bowl projection surface,although heights of objects in an external environment of a vehicle arerepresented similar to actual heights, there is a problem in thatdistortion such as straightened lines represented as curved lines or thelike occurs.

SUMMARY

Therefore, it is an aspect of the present disclosure to provide amulti-camera driver assistance system capable of representing a heightof an object in the external environment of a vehicle similar to anactual height, and at the same time, representing straightened lines ofparking lines, vehicles passing around the vehicle, or the like asstraight lines similar to actual lines.

In accordance with one aspect of the present invention, a multi-cameradriver assistance system includes a plurality of cameras which disposeat different positions of a vehicle to capture images of a vicinity ofthe vehicle; an image processing unit which generates a virtual viewwith respect to a predetermined projection surface based on the images;and a display device which displays the virtual view; and predeterminedprojection surface may include a slanted projection surfaces which arelocated at lateral sides of the vehicle.

The image processing unit may be an electronic processing unit (ECU) inthe vehicle.

The predetermined projection surface may further include a flatprojection surface having a predetermined distance around the vehicleand the slanted projection surface may be connected to the flatprojection surface.

The predetermined projection surface may further includes verticalprojection surfaces which are located in front and behind the vehicle,and approximately perpendicular to the ground to limit the slantedprojection surface.

The image processing unit may be configured to increase thepredetermined distance of the flat projection surface, and to increaseangles of the slanted projection surface from the ground in respond to acommand of a user which inputs a virtual view expanding command.

The image processing unit may be configured to decrease thepredetermined distance of the flat projection surface, and to decreaseangles of the slanted projection surface from the ground in respond tothe command of the user which inputs a virtual view contracting command.

In accordance with another aspect of the present invention, a method ofdisplaying a virtual image by a multi-camera driver assistance system,the method comprising: receiving a plurality of captured images of avicinity of a vehicle which disposes at different positions of thevehicle; generating a virtual view with respect to a predeterminedprojection surface based on the images; and transmitting the virtualview to a display device; wherein the predetermined projection surfacemay include a slanted projection surfaces which are located at lateralsides of the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects of the disclosure will become apparent andmore readily appreciated from the following description of theembodiments, taken in conjunction with the accompanying drawings ofwhich:

FIG. 1A is a view illustrating a virtual view with respect to a flatprojection surface generated by a multi-camera driver assistance systemin accordance with the related art.

FIG. 1B is a view illustrating a screen on which the virtual viewgenerated by the flat projection surface is displayed by a displaydevice.

FIG. 2A is a view illustrating a virtual view with respect to a bowlprojection surface generated by a multi-camera driver assistance systemin accordance with the related art.

FIG. 2B is a view illustrating a screen on which the virtual viewgenerated by the bowl projection surface is displayed by a displaydevice.

FIG. 3A is a view illustrating a virtual view with respect to aprojection surface generated by a multi-camera driver assistance systemin accordance with one embodiment of the present disclosure.

FIG. 3B is a view illustrating a screen on which the virtual viewgenerated by the projection surface in accordance with the presentdisclosure is displayed by a display device.

FIG. 3C is a view illustrating a virtual view with respect to aprojection surface generated by a multi-camera driver assistance systemin accordance with another embodiment of the present disclosure.

FIG. 4 is a block diagram illustrating a multi-camera driver assistancesystem in accordance with the present disclosure.

FIG. 5 is a flowchart illustrating a method of displaying a virtual viewby a multi-camera driver assistance system in accordance with anotheraspect of the present disclosure. The method may be performed by animage processing unit.

DETAILED DESCRIPTION

In the following description of the present disclosure, when it isdetermined that detailed descriptions of related well-known functions orconfigurations unnecessarily obscure the gist of the present disclosure,the detailed descriptions thereof will be omitted.

While the disclosure may be modified in various ways and take on variousalternative forms, specific embodiments thereof are shown in thedrawings and described in detail below as examples. There is no intentto limit the disclosure to the particular forms disclosed. On thecontrary, the disclosure is construed as including all modifications,equivalents, and alternatives falling within the spirit and scope of theappended claims.

FIG. 1A is a view illustrating a virtual view with respect to a flatprojection surface generated by a multi-camera driver assistance systemin accordance with the related art. FIG. 1B is a view illustrating ascreen on which the virtual view generated by the flat projectionsurface is displayed by a display device.

Referring to FIGS. 1A and 1B, a vehicle 10, a passenger 20, which may berepresented as a high object, and a parking line 30, which may berepresented as a straightened line, are illustrated.

The vehicle 10, which is an object that mounts a motor and moves on theground by rolling wheels with the power of the motor, may be, forexample, a car, a bus, a truck, and the like.

A plurality of cameras 110 are disposed at different positions of thevehicle 10. For example, the cameras 110 may be respectively disposed ona front surface, a left surface, a right surface, and a rear surface ofthe vehicle 10. The cameras 110 may be, for example, wide angle camerasthat may perform capturing within a range of 180 degrees. As theplurality of cameras 110 are disposed on a single vehicle 10, a virtualview (or a surround view) around the vehicle 10 may be provided to auser.

The virtual view may be generated by an image processing unit (notillustrated). The image processing unit receives a plurality of capturedimages from the cameras 110, and generates a virtual view whichrepresents a vicinity of the vehicle 10 by processing the plurality ofimages. That is, the image processing unit performs processing, such asrotation, reversing, size adjusting, color correction, and the like, onthe plurality of images, instead of simply combining the plurality ofimages. The image processing unit generates the virtual view bycombining the processed images. That is, the virtual view refers to acombination of the images based on a surface at which a virtualobserver, who does not actually exist, watches. The image processingunit may be, for example, an electronic control unit (ECU) installed inthe vehicle 10. The virtual view may be displayed on a display device130 installed in the vehicle 10.

In FIGS. 1A and 1B, a case in which a flat projection surface 41 is usedfor generating the virtual view is illustrated. Since a two-dimensional(2D) ground around the vehicle 10, on which the vehicle 10 is located,becomes a surface for the virtual view, a passenger 20 in the vicinityof the vehicle 10 is displayed as a single point. That is, the passenger20 which is a high object is displayed on a 2D surface as a singlepoint, and thus a height of the passenger 20 is not displayed on thedisplay device 130. Meanwhile, a parking line 30 in the vicinity of thevehicle 10 is also displayed on the 2D surface as a straight line.

FIG. 2A is a view illustrating a virtual view with respect to a bowlprojection surface generated by a multi-camera driver assistance systemin accordance with the related art. FIG. 2B is a view illustrating ascreen on which the virtual view generated by the bowl projectionsurface is displayed by a display device.

Referring to FIGS. 2A and 2B, a vehicle 10, a passenger 20, which may berepresented as a high object, and a parking line 30, which may berepresented as a straightened line, are illustrated.

A virtual view may be generated by an image processing unit (notillustrated). The image processing unit receives a plurality of capturedimages from cameras 110, and generates a virtual view which represents avicinity of the vehicle 10 by processing the plurality of images. Thatis, the image processing unit performs processing, such as rotation,reversing, size adjusting, color correction, and the like, on theplurality of images, instead of simply combining the plurality ofimages. The image processing unit generates the virtual view bycombining the processed images. That is, the virtual view refers to acombination of the images based on a surface at which a virtualobserver, who does not actually exist, watches. The image processingunit may be, for example, an ECU installed in the vehicle 10. Thevirtual view may be displayed on a display device 130 installed in thevehicle 10.

In FIGS. 2A and 2B, a case in which a bowl projection surface 41 is usedfor generating the virtual view is illustrated. Since athree-dimensional (3D) shape having a bowl shape becomes a surface forthe virtual view around the vehicle 10, a passenger 20 in the vicinityof the vehicle 10 is displayed so that a height thereof is represented.However, although a parking line 30 in the vicinity of the vehicle 10 isactually a straight line, the parking line 30 is displayed as a curvedline in the virtual view. That is, in the bowl projection surface 41,the parking line 30 is represented to be distorted.

FIG. 3A is a view illustrating a virtual view with respect to aprojection surface generated by a multi-camera driver assistance systemin accordance with one embodiment of the present disclosure. FIG. 3B isa view illustrating a screen on which the virtual view generated by theprojection surface in accordance with the present disclosure isdisplayed by a display device. FIG. 3C is a view illustrating a virtualview with respect to a projection surface generated by a multi-cameradriver assistance system in accordance with another embodiment of thepresent disclosure.

A virtual view may be generated by an image processing unit (notillustrated). The image processing unit receives a plurality of capturedimages from cameras 110, and generates a virtual view which represents avicinity of a vehicle 10 by processing the plurality of images. That is,the image processing unit performs processing, such as rotation,reversing, size adjusting, color correction, and the like, on theplurality of images, instead of simply combining the plurality ofimages. The image processing unit generates the virtual view bycombining the processed images. That is, the virtual view refers to acombination of the images based on a surface at which a virtualobserver, who does not actually exist, watches. The image processingunit may be, for example, an ECU installed in the vehicle 10. Thevirtual view may be displayed on a display device 130 installed in thevehicle 10.

The projection surface in accordance with the present disclosureincludes slanted projection surfaces 44. The slanted projection surfaces44 are located to lateral sides of the vehicle 10, and are configured tobe inclined from the ground by a predetermined angle. Since the slantedprojection surfaces 44 are 2D surfaces and are surfaces which areinclined and raised from the ground, a passenger 20 in the vicinity ofthe vehicle 10 may not be displayed as a single point and may berepresented as an object having a height. Further, since the slantedprojection surfaces 44 are the 2D surfaces rather than curved surfaces,a parking line 30 in the vicinity of the vehicle, which is actually astraight line, may not be represented to be curved, and may berepresented as a straight line the same as an actual line.

According to another embodiment of the present disclosure, themulti-camera driver assistance system may include a flat projectionsurface 43 with a predetermined distance around a vehicle 10, andslanted projection surfaces 44 connected to the flat projection surface43. In a predetermined distance adjacent to the vehicle 10, since avirtual view with respect to the flat projection surface 43 isgenerated, a parking line 30 very close to the vehicle 10 may berepresented as being in the ground without the distortion of the height.

Additionally, the projection surface in accordance with the presentdisclosure may further include vertical projection surfaces 45 which arelocated in front and behind the vehicle 10 and are almost perpendicularto the ground. In FIG. 3C, the vertical projection surfaces 45 almostperpendicular to the ground are illustrated to be located in front andbehind the vehicle 10. These vertical projection surfaces 45 may limitthe infinite expansion of the slanted projection surfaces 44.

Meanwhile, a shape of the projection surface in accordance with thepresent disclosure may be changed by a command of a user. For example,the user may wish to expand the virtual view in order to morespecifically recognize an environment in the vicinity of the vehicle 10.Thus, when the user transmits a virtual view expanding command, theimage processing unit may increase the predetermined distance of theflat projection surface 43, and at the same time, may increase angles ofthe slanted projection surfaces 44 from the ground. Therefore, theparking line 30 in the vicinity of the vehicle 10 may be expanded anddisplayed on the display device 30, and a height of the passenger 20 maybe displayed on the display device 30 in more detail.

When the user transmits a virtual view contracting command, the imageprocessing unit may decrease the predetermined distance of the flatprojection surface 43, and at the same time, may decrease the angles ofthe slanted projection surfaces 44 from the ground. Therefore, theparking line 30 in the vicinity of the vehicle 10 may be contracted anddisplayed on the display device 30, and the height of the passenger 20may be displayed on the display device 30 in less detail.

FIG. 4 is a block diagram illustrating a multi-camera driver assistancesystem in accordance with the present disclosure.

The multi-camera driver assistance system in accordance with the presentdisclosure includes a plurality of cameras 110, an image processing unit120, and a display device 130.

The plurality of cameras 110 may be disposed at different positions of avehicle. For example, the cameras 110 may be respectively disposed on afront surface, a left surface, a right surface, and a rear surface ofthe vehicle. The cameras 110 may be, for example, wide angle camerasthat may perform capturing within a range of 180 degrees. As theplurality of cameras 110 are disposed on a single vehicle 10, a virtualview (or a surround view) around the vehicle may be provided to a user.

The image processing unit 120 may generate a virtual view. The imageprocessing unit 120 receives a plurality of captured images from thecameras 110, and generates the virtual view which represents a vicinityof the vehicle by processing the plurality of images. That is, the imageprocessing unit 120 performs processing, such as rotation, reversing,size adjusting, color correction, and the like, on the plurality ofimages instead of simply combining the plurality of images. The imageprocessing unit 120 combines the images processed as above. The imageprocessing unit 120 may be, for example, an ECU installed in thevehicle.

The display device 130 may receive the virtual view from the imageprocessing unit 120 and display the virtual view to the user. Forexample, the display device 130 may be a monitor device located in thevehicle. For example, the display device 130 may be implemented using aliquid crystal display (LCD), a light-emitting diode (LED), an organiclight-emitting diode (OLED), and the like.

FIG. 5 is a flowchart illustrating a method of displaying a virtual viewby a multi-camera driver assistance system in accordance with anotheraspect of the present disclosure. The method may be performed by animage processing unit.

Images of a vicinity of a vehicle may be received from a plurality ofcameras disposed at different positions of the vehicle (S51).

A virtual view with respect to a predetermined projection surface may begenerated based on the images (S52). According to the presentdisclosure, the predetermined projection surface may include a flatprojection surface having a predetermined distance around the vehicleand slanted projection surfaces, which are connected to the flatprojection surface and are inclined from the ground by a predeterminedangle, to lateral sides of the vehicle. Further, the predeterminedprojection surface may also include vertical projection surfaces whichare located to the front and rear of the vehicle in order to limit theinfinite expansion of the slanted projection surface and having a shapealmost perpendicular to the ground.

The virtual view may be changed by a command of a user. For example,when a virtual view expanding command is received from the user, thepredetermined distance of the flat projection surface may be increasedand angles of the slanted projection surfaces from the ground may beincreased. On the other hand, when a virtual view contracting command isreceived from the user, the predetermined distance of the flatprojection surface may be decreased and the angles of the slantedprojection surfaces from the ground may be decreased.

The generated virtual view may be transmitted to a display device (S53),and the display device may assist the driving of the user by displayingthe virtual view.

In one or more exemplary embodiments, the described functions may beimplemented in hardware, software, firmware, or any combinationsthereof. When being implemented in software, the functions may be storedin or transmitted to a computer readable medium as one or moreinstructions or codes. The computer readable medium includes both acommunication medium including any medium that facilitates transferringcomputer programs from one place to another place and a computerrecording medium. The recording medium may be any available medium thatcan be accessed by a computer. As an example rather than a limitation,such computer readable medium may include a read only memory (ROM), arandom access memory (RAM), an electrically erasable programmable readonly memory (EEPROM), a compact disk read only memory (CD-ROM) or otheroptical disk storages, a magnetic disk storage or other magnetic storagedevices, or any other medium that can be used to transfer and storedesired program codes in a form of an instruction or a data structureand can be accessed by a computer. Further, any connection may beappropriately referred to as the computer readable medium. For example,when software is transmitted from a website, a server, or another remotesource using a coaxial cable, a fiber optic cable, a pair of twistedlines, a digital subscriber line (DSL), or wireless techniques such asinfrared light, a radio frequency, and a super high frequency, thecoaxial cable, the fiber optic cable, the pair of twisted lines, theDSL, or the wireless techniques such as the infrared light, the radiofrequency, and the super high frequency are included in the definitionof a medium. Disks and discs used herein include a CD, a laser disc, anoptical disc, a digital versatile disc (DVD), a floppy disk, and aBlue-ray disc, where the disks normally play data magnetically and thediscs play data optically using a laser. The above combinations shouldalso be included within the scope of the computer readable medium.

When embodiments are implemented in program codes or code segments, itshould be recognized that the code segment may represent a procedure, afunction, a subprogram, a program, a routine, a subroutine, a module, asoftware package, a class, instructions, data structures, programstatements, or any combinations thereof. As the code segment transmitsand/or receives information, data, arguments, parameters, or memorycontents, the code segment may be connected to the other code segment ora hardware circuit. The information, arguments, parameters, data, or thelike may be transferred, sent, or transmitted using any appropriatemeans including memory sharing, message passing, token passing, networktransmission, etc. In addition, in some aspects, methods or steps and/oroperations of an algorithm may be provided as one of codes and/orinstructions or any combination or set thereof on a machine-readablemedium and/or the computer readable medium that can be integrated into acomputer program object.

In the software implementation, the techniques described herein may beimplemented with modules (e.g., procedures, function, and the like) forperforming the functions described herein. Software codes may be storedin memory units and executed by processors. The memory units may beimplemented in the processor and outside the processor, and in thiscase, the memory units may be connected to communicate with theprocessor by various known means.

In the hardware implementation, processing units may be implemented inone or more application specific integrated circuits (ASIC), a digitalsignal processor (DSP), a digital signal processing device (DSPD), aprogrammable logic device (PLD), a field programmable gate array (FPGA),a processor, a controller, a micro-controller, a microprocessor, otherelectronic units which are designed to perform the functions describedherein, or any combination thereof.

The above-described embodiments include real examples of one or moreembodiments. Although not all possible combinations of the components orthe methods for describing the above-described embodiments can bedescribed, those skilled in the art may recognize additionalcombinations and replacements of the various embodiments. Therefore, theabove-described embodiments include all alternatives, modifications, andchanges within the spirit and the scope of the appended claims.Furthermore, in the detailed description and the scope of the claimswhere the term “include” is used, as the term is interpreted when theterm “comprise” is inclusively used as a word in the scope of theclaims, the term “comprise” is similarly included therein.

As used herein, the term “construe” or “construction” generally refersto a process which determines or construes with respect to a system, anenvironment, and/or a state of the user from a set of observationscaptured from an event and/or data. The construction may be used toidentify a particular situation or operation, or for example, maygenerate a probability distribution over states. The construction may bea probability, that is, it may be the computation of a probabilitydistribution over the states based on a consideration of the data andevents. Further, the construction may also refer to techniques used toconstruct higher-level events from a set of events and/or data. Theconstruction estimates a set of observed events, new events oroperations from stored event data, whether the events are closelycorrelated in time, and whether the events and data come out from one orseveral events and data sources.

Furthermore, as used in this application, the terms “component,”“module,” “system,” and the like include an entity related to a computersuch as hardware, firmware, a combination of hardware and software,software, or running software, but are not limited thereto. For example,a component includes a process executed on a processor, a processor, anobject, an executable running thread, a program, and/or a computer, butis not limited thereto. As an example, both an application executed on acomputing device and the computing device may be a component. One ormore components may be provided in the process and/or a running thread,integrated into a single computer, and/or distributed to two or morecomputers. Further, these components may be executed in various computerreadable media in which various data structures are stored. Thecomponents may communicate by a local and/or a remote process accordingto a signal having one or more data packets (e.g., data from a localsystem, another component of a distributed system, and/or any componentthat interacts with other systems by a signal through a network such asthe Internet), and the like.

According to the present disclosure a virtual view may be provided inwhich a height of an object in the external environment of a vehicle isrepresented as that of an object having a height similar to an actualheight.

Further, according to the present disclosure, a virtual view may also beprovided in which straightened lines of parking lines, vehicles passingaround a vehicle, or the like are represented as straight lines similarto actual lines.

Although a few embodiments of the present disclosure have been shown anddescribed, it should be appreciated by those skilled in the art thatchanges may be made in these embodiments without departing from theprinciples and spirit of the disclosure, the scope of which is definedin the claims and their equivalents.

What is claimed is:
 1. A vision system for a vehicle, the vision systemcomprising: a camera operable to be disposed at the vehicle so as tohave a field of view exterior of the vehicle, the camera configured tocapture an image data; and an image processor configured to process theimage data captured by the camera, wherein the image processor isconfigured to, responsive at least in part to image processing of imagedata, output a first virtual view including a first flat projectionsurface extending from the vehicle by a first distance and a firstslanted projection surface slanted by a first angle relative to thefirst flat projection surface and positioned at the first distance fromthe vehicle, and the image processor is configured to, in response to auser input, output a second virtual view including a second flatprojection surface extending from the vehicle by a second distance,which is greater than the first distance, and a second slantedprojection surface positioned at the second distance from the vehicleand slanted by a second angle, which is greater than the first angle,relative to the second flat projection surface.
 2. A vision system for avehicle, the vision system comprising: a camera operable to be disposedat the vehicle so as to have a field of view exterior of the vehicle,the camera configured to capture an image data; and an image processorconfigured to process the image data captured by the camera, wherein theimage processor is configured to, responsive at least in part to imageprocessing of image data, output a first virtual view including a firstflat projection surface extending from the vehicle by a first distanceand a first slanted projection surface slanted by a first angle relativeto the first flat projection surface and positioned at the firstdistance from the vehicle, and the image processor is configured to, inresponse to a user input, output a second virtual view including asecond flat projection surface extending from the vehicle by a seconddistance, which is less than the first distance, and a second slantedprojection surface positioned at the second distance and slanted by asecond angle, which is less than the first angle, relative to the secondflat projection surface.
 3. The vision system of claim 1, wherein atleast one of the first virtual view and the second virtual view isdisplayed on a display disposed at the vehicle.
 4. A controlling methodof a vision system for a vehicle, the method comprising: capturing, by acamera operable to be disposed at the vehicle so as to have a field ofview exterior of the vehicle, an image data; processing, by an imageprocessor, the image data captured by the camera; responsive at least inpart to image processing of image data, outputting a first virtual viewincluding a first flat projection surface extending from the vehicle bya first distance and a first slanted projection surface slanted by afirst angle relative to the first flat projection surface and positionedat the first distance from the vehicle; and in response to a user input,outputting a second virtual view including a second flat projectionsurface extending from the vehicle by a second distance, which isgreater than the first distance, and a second slanted projection surfaceslanted by a second angle, which is greater than the first angle,relative to the second flat projection surface and positioned at thesecond distance from the vehicle.
 5. A controlling method of a visionsystem for a vehicle, the method comprising: capturing, by a cameraoperable to be disposed at the vehicle so as to have a field of viewexterior of the vehicle, an image data; processing, by an imageprocessor, the image data captured by the camera; responsive at least inpart to image processing of image data, outputting a first virtual viewincluding a first flat projection surface extending from the vehicle bya first distance and a first slanted projection surface slanted by afirst angle relative to the first flat projection surface and positionedat the first distance from the vehicle; and in response to a user inputoutputting a second virtual view including a second flat projectionsurface extending from the vehicle by a second distance, which is lessthan the first distance, and a second slanted projection surfacepositioned at the second distance and slanted by a second angle, whichis less than the first angle, relative to the second flat projectionsurface.
 6. The controlling method of claim 4, further comprisingdisplaying at least one of the first virtual view and the second virtualview.
 7. The vision system of claim 2, wherein at least one of the firstvirtual view and the second virtual view is displayed on a displaydisposed at the vehicle.
 8. The controlling method of claim 5, furthercomprising displaying at least one of the first virtual view and thesecond virtual view.